diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 7a5c0c08a9..71b850a487 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -410,7 +410,7 @@ void AP_Baro::init(void)
     } while (added);
 #endif
 
-#if HAL_BARO_DEFAULT == HAL_BARO_PX4 || HAL_BARO_DEFAULT == HAL_BARO_VRBRAIN
+#if HAL_BARO_DEFAULT == HAL_BARO_PX4 || HAL_BARO_DEFAULT == HAL_BARO_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3)
     switch (AP_BoardConfig::get_board_type()) {
     case AP_BoardConfig::PX4_BOARD_PX4V1:
 #ifdef HAL_BARO_MS5611_I2C_BUS
diff --git a/libraries/AP_Baro/AP_Baro_LPS25H.cpp b/libraries/AP_Baro/AP_Baro_LPS25H.cpp
index 12b62c5800..46bcf9c1db 100644
--- a/libraries/AP_Baro/AP_Baro_LPS25H.cpp
+++ b/libraries/AP_Baro/AP_Baro_LPS25H.cpp
@@ -14,7 +14,6 @@
  */
 #include "AP_Baro_LPS25H.h"
 
-#include <unistd.h>
 #include <utility>
 #include <stdio.h>
 extern const AP_HAL::HAL &hal;